Overview

This repository contains MATLAB code for both inverse and direct kinematics of a soft continuum robot. The provided code is a part of the Continuum Robot Kinematics Solver, which aims to facilitate the analysis and control of soft continuum robots. CurveIKsolver provides functionality for solving the inverse kinematics problem of a soft continuum robot. It is designed to work with a modular soft continuum robot composed of multiple sections. The class supports computation of the robot's kinematics, including forward kinematics, Jacobian matrices, and inverse kinematics using an iterative method.

Basic Joint Structure

Usage

Clone the repository to your local machine:

bash

git clone https://github.com/your-username/continuum-kinematics.git

Navigate to the continuum-kinematics directory:

cd continuum-kinematics

Open MATLAB and run the test.m script:

run test.m

This script demonstrates the functionality of both the inverse and direct kinematics solvers.

example

%MATLAB CODE
% Example Usage
N = [3, 2, 4];  % Number of sections in each module
l = [0.1, 0.2, 0.15];  % Length of each section
q0 = zeros(1, sum(N) * 3);  % Initial joint angles
solver = curveIKsolver(N, l, q0);
goal_pose = eye(4);  % Desired end-effector pose
weight_matrix = eye(6);  % Weight matrix for error minimization
solver.IK_solve(goal_pose, weight_matrix);
solver.plotkin();

Class Description

roperties

• N: Number of sections in the continuum robot.
• N_sec: Number of sections used for internal calculations.
• q: Joint angles of the continuum robot.
• l: Length of each section.
• T: Transformation matrices for each module of the continuum robot.
• J: Jacobian matrix for the entire robot.
• DH: Denavit-Hartenberg parameters for each module.
• J_red: Reduced Jacobian matrix for the entire robot.

Methods

Constructor curveIKsolver(N, l, q0)

Initializes an instance of the class.

• N: Number of sections.
• l: Length of each section.
• q0: Initial joint angles.

DH_vect(self, l, q)

Computes the Denavit-Hartenberg parameters for a given module.

• l: Length of the module.
• q: Joint angles of the module.

compute_T_module(self, T0, DH)

Computes the transformation matrix for a module given the previous transformation matrix and Denavit-Hartenberg parameters.

compute_T(self)

Computes the overall transformation matrices for the entire robot.

compute_module_jacobian(self, Tm, T_ee)

Computes the Jacobian matrix for a single module.

compute_J(self)

Computes the Jacobian matrix for the entire robot.

IK_solve(self, goal, W)

Solves the inverse kinematics problem iteratively to achieve a desired end-effector pose.

• goal: Desired end-effector pose.
• W: Weight matrix for error minimization.

plotkin(self)

Plots the kinematics of the robot.

plotkint(self, c)

Plots the kinematics of the robot with a specified color intensity.

Dependencies

The provided code is written in MATLAB. Ensure that you have MATLAB installed on your machine to run the scripts successfully.

Issues and Contributions

If you encounter any issues or have suggestions for improvements, feel free to open an issue. Contributions are welcome through pull requests.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Results